Steering control device and method of vehicle

Abstract

The embodiments relate to a steering control device and method of a vehicle. A steering control device may include a receiver configured to receive absolute steering angle information, relative steering angle information, and rack position information of the vehicle, a determiner configured to determine absolute steering angle estimation information based on the rack position information and the relative steering angle information if there is an abnormality in the absolute steering angle information, and a controller configured to, if an adjustment condition is satisfied for at least one of a rack limit position and a steering wheel limit position, perform a position adjustment control based on the rack position information and the absolute steering angle estimation information.

What is claimed is: 
     
       1. A steering control device of a vehicle comprising:
 memory configured to store instructions that are executable; and 
 one or more processors configured to execute one or more of the instructions to perform operations comprising: 
 receiving absolute steering angle information, relative steering angle information, and rack position information of the vehicle; 
 determining absolute steering angle estimation information based on the rack position information and the relative steering angle information if there is an abnormality in the absolute steering angle information; and 
 if an adjustment condition is satisfied for at least one of a rack limit position and a steering wheel limit position, performing a position adjustment control based on the rack position information and the absolute steering angle estimation information, 
 wherein the one or more processors are configured to perform the position adjustment control moving both a steering wheel and a rack based on the rack position information and the absolute steering angle estimation information. 
 
     
     
       2. The steering control device of  claim 1 , wherein the one or more processors are further configured to receive steering wheel limit position indication information on whether a position of a steering wheel corresponds to the steering wheel limit position,
 wherein the adjustment condition comprises a condition in which it is determined that the position of the steering wheel corresponds to the steering wheel limit position based on the steering wheel limit position indication information, 
 wherein the one or more processors are configured to, if the adjustment condition is satisfied, perform the position adjustment control to move a rack in a direction closer to the rack limit position. 
 
     
     
       3. The steering control device of  claim 2 , wherein the one or more processors are configured to:
 if it is determined that the absolute steering angle information corresponds to the steering wheel limit position and it is determined that the steering wheel limit position indication information does not correspond to the steering wheel limit position, re-determine the absolute steering angle estimation information within a range not exceeding the steering wheel limit position, and 
 perform the position adjustment control to move the steering wheel in a direction closer to the steering wheel limit position. 
 
     
     
       4. The steering control device of  claim 1 , wherein the one or more processors are configured to determine steering angular velocity information based on the relative steering angle information, and determine a magnitude comparison result between the steering angular velocity information and a reference angular velocity,
 wherein the adjustment condition comprises a condition in which it is determined that the absolute steering angle estimation information corresponds to the steering wheel limit position. 
 
     
     
       5. The steering control device of  claim 4 , wherein the one or more processors are configured to, if the steering angular velocity information is greater than or equal to the reference angular velocity, re-determine the absolute steering angle estimation information within a range not exceeding a steering wheel limit position, and perform the position adjustment control to move the steering wheel in a direction closer to the steering wheel limit position. 
     
     
       6. The steering control device of  claim 4 , wherein the one or more processors are configured to, if the adjustment condition is satisfied and the steering angular velocity information is less than the reference angular velocity, perform the position adjustment control to move a rack in a direction closer to the rack limit position. 
     
     
       7. The steering control device of  claim 1 , wherein the adjustment condition comprises a condition in which it is determined that the rack position information corresponds to the rack limit position,
 wherein the one or more processors are configured to, if the adjustment condition is satisfied, perform the position adjustment control to move a steering wheel in a direction closer to the steering wheel limit position. 
 
     
     
       8. The steering control device of  claim 1 , wherein the one or more processors are further configured to receive at least one of steering motor position information received from a steering motor position sensor and steering torque information received from a steering torque sensor, and determine the relative steering angle information based on at least one of the steering motor position information and the steering torque information. 
     
     
       9. The steering control device of  claim 1 , wherein the one or more processors are configured to determine deviation information about a deviation between the absolute steering angle information and the rack position information,
 wherein the adjustment condition comprises a condition in which the deviation information exceeds an allowable deviation. 
 
     
     
       10. The steering control device of  claim 1 , wherein the one or more processors are configured to determine the absolute steering angle estimation information by using an inverse kinematics algorithm based on the rack position information. 
     
     
       11. The steering control device of  claim 1 , wherein the one or more processors are configured to perform the position adjustment control by moving a steering wheel in a direction closer to a steering wheel limit position and moving a rack in a direction closer to a rack limit position based on the rack position information and the absolute steering angle estimation information. 
     
     
       12. A steering control method of a vehicle comprising:
 receiving absolute steering angle information, relative steering angle information, and rack position information of the vehicle; 
 determining absolute steering angle estimation information based on the rack position information and the relative steering angle information if there is an abnormality in the absolute steering angle information; and 
 performing, if an adjustment condition is satisfied for at least one of a rack limit position and a steering wheel limit position, a position adjustment control based on the rack position information and the absolute steering angle estimation information, 
 wherein the performing of the position adjustment control comprises performing the position adjustment control moving both a steering wheel and a rack based on the rack position information and the absolute steering angle estimation information. 
 
     
     
       13. The steering control method of  claim 12 , wherein the receiving comprises further receiving steering wheel limit position indication information on whether a position of a steering wheel corresponds to the steering wheel limit position,
 wherein the adjustment condition comprises a condition in which it is determined that the position of the steering wheel corresponds to the steering wheel limit position based on the steering wheel limit position indication information, 
 wherein, the performing comprises, if the adjustment condition is satisfied, performing the position adjustment control to move a rack in a direction closer to the rack limit position. 
 
     
     
       14. The steering control method of  claim 12 , wherein the determining comprises determining steering angular velocity information based on the relative steering angle information, and determining a magnitude comparison result between the steering angular velocity information and a reference angular velocity,
 wherein the adjustment condition comprises a condition in which it is determined that the absolute steering angle estimation information corresponds to the steering wheel limit position. 
 
     
     
       15. The steering control method of  claim 12 , wherein the receiving comprises further receiving at least one of steering motor position information received from a steering motor position sensor and steering torque information received from a steering torque sensor,
 wherein the determining comprises determining the relative steering angle information based on at least one of the steering motor position information and the steering torque information. 
 
     
     
       16. The steering control method of  claim 12 , wherein the adjustment condition comprises a condition in which it is determined that the rack position information corresponds to the rack limit position,
 wherein the performing comprises, if the adjustment condition is satisfied, performing the position adjustment control to move a steering wheel in a direction closer to the steering wheel limit position. 
 
     
     
       17. The steering control method of  claim 12 , wherein the performing of the position adjustment control comprises performing the position adjustment control by moving a steering wheel in a direction closer to a steering wheel limit position and moving a rack in a direction closer to a rack limit position based on the rack position information and the absolute steering angle estimation information.